Lidding system and lidding method

ABSTRACT

A lidding system includes a transfer apparatus configured to transfer a container which is put on the transfer apparatus such that a bottom of the container contacts the transfer apparatus, the container having an opening opposite to the bottom and a side wall extending from the bottom to the opening; a holding apparatus configured to hold the side wall of the container at a lidding position; and a lidding apparatus configured to press a lid against the container held by the holding apparatus to close the opening.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims priority from Japanese Patent Application No.2017-193806 filed with the Japan Patent Office on Oct. 3, 2017, theentire content of which is hereby incorporated by reference.

BACKGROUND 1. Technical Field

An embodiment of the disclosure relates to a lidding system and alidding method.

2. Related Art

Japanese Patent No. 3016429 describes a lidding apparatus for a liddedcontainer. This lidding apparatus for a lidded container separatesstacked lids, one by one, and feeds the lids onto containers transferredto an operation position. Furthermore, the apparatus applies pressure tothe lids fed on the containers and fits the lids onto the containers.

SUMMARY

A lidding system according to an aspect of the disclosure includes atransfer apparatus configured to transfer a container which is put onthe transfer apparatus such that a bottom of the container contacts thetransfer apparatus, the container having an opening opposite to thebottom and a side wall extending from the bottom to the opening; aholding apparatus configured to hold the side wall of the container at alidding position; and a lidding apparatus configured to press a lidagainst the container held by the holding apparatus to close theopening.

A lidding method according to another aspect of the disclosure includestransferring a container which is put on a transfer apparatus such thata bottom of the container contacts the transfer apparatus, the containerhaving an opening opposite to the bottom and a side wall extending fromthe bottom to the opening; holding the side wall of the container at alidding position; and pressing a lid against the container while theside wall of the container is held at the lidding position to close theopening.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is an explanatory view representing an example of the entireconfiguration of a lidding system according to an embodiment;

FIG. 2 is a plan view representing an example of the configuration of acontainer clamping apparatus;

FIG. 3 is a side view representing an example of the configuration ofthe container clamping apparatus;

FIG. 4 is a perspective view representing an example of theconfiguration of a container centering apparatus;

FIG. 5 is an explanatory view representing an example of a liddingoperation in a case of lidding a rectangular container of an externalfitting type;

FIG. 6 is an explanatory view representing an example of the liddingoperation in the case of lidding the rectangular container of theexternal fitting type;

FIG. 7 is an explanatory view representing an example of the liddingoperation in the case of lidding the rectangular container of theexternal fitting type;

FIG. 8 is a flowchart representing an example of processing contents ofa controller in a lidding step;

FIG. 9A is an explanatory view illustrating an example of the attitudeof the centered food container;

FIG. 9B is an explanatory view representing an example of the operationof, for example, clamp arms in a case of adjusting the positions of theclamp arms to positions corresponding to the attitude of the foodcontainer;

FIG. 9C is an explanatory view representing an example of the operationof, for example, the clamp arms in a case where the clamp arms hold thefood container;

FIG. 9D is an explanatory view representing an example of the operationof, for example, the clamp arms in a case where the clamp arms move thefood container to a lidding position while correcting the deviation ofthe position of the food container;

FIG. 10 is an explanatory view representing an example of the liddingoperation in a case of lidding a circular container of an internalfitting type;

FIG. 11 is an explanatory view representing an example of the liddingoperation in a case of lidding the circular container of the internalfitting type; and

FIG. 12 is an explanatory view representing an example of the liddingoperation in the case of lidding the circular container of the internalfitting type.

DETAILED DESCRIPTION

In the following detailed description, for purpose of explanation,numerous specific details are set forth in order to provide a thoroughunderstanding of the disclosed embodiments. It will be apparent,however, that one or more embodiments may be practiced without thesespecific details. In other instances, well-known structures and devicesare schematically shown in order to simplify the drawing.

An embodiment is described hereinafter with reference to the drawings.The embodiment is described, taking a case of attaching a lid to a foodcontainer as an example. However, the type of container is not limitedto a food container.

<1. Entire Configuration of Lidding System>

Firstly, an example of the entire configuration of a lidding system 1according to the embodiment is described with reference to FIG. 1. Inthe following description, an X-axis direction indicates a traveldirection of a container transfer conveyor 2. A Y-axis directionindicates a width direction of the container transfer conveyor 2orthogonal to the travel direction. A Z-axis direction indicates avertical direction orthogonal to the X-axis direction and the Y-axisdirection. A θ-axis direction indicates a rotation direction about theZ-axis.

As illustrated in FIG. 1, the lidding system 1 includes the containertransfer conveyor 2, a container clamping apparatus 3, a lidding robot4, a container centering apparatus 5, a container illumination apparatus6, a container position detection camera 7, two lid feeding apparatuses23, a lid transfer apparatus 22, a lid illumination apparatus 24, a lidposition detection camera 25, and a controller (a processor) 12.

The container transfer conveyor 2 (an example of a transfer apparatus)is a transfer conveyor having a conveyor belt 13 (an example of a belt).The container transfer conveyor 2 transfers a food container 60 from anupstream side (the upper side in FIG. 1) to a downstream side (the lowerside in FIG. 1). The container transfer conveyor 2 includes a driveroller 14 at a downstream end in the travel direction, and a drivenroller 10 on the upstream side in the travel direction. The conveyorbelt 13 is looped between the drive roller 14 and the driven roller 10.

A conveyor motor 15 that drives the container transfer conveyor 2 isattached to the drive roller 14. The conveyor motor 15 is connected tothe controller 12. The container transfer conveyor 2 is operated orstopped under control of the controller 12. Instead of automatic controlof the controller 12, a user may operate or stop the container transferconveyor 2 by manual operation.

The container transfer conveyor 2 includes a roller conveyor 18 on theupstream side in a drive area of the conveyor belt 13. The rollerconveyor 18 includes a plurality of rollers 17 side by side. Theplurality of rollers 17 has a larger width (a dimension in the Y-axisdirection) than the conveyor belt 13. An unillustrated powertransmission belt is looped between the roller 17 and the driven roller10. Consequently, the roller conveyor 18 is driven with the rotation ofthe conveyor belt 13 (the rotation of the driven roller 10). In otherwords, the conveyor belt 13 and the roller conveyor 18 of the containertransfer conveyor 2 are driven by the single conveyor motor 15.

The container transfer conveyor 2 having the above configurationsuccessively transfers a plurality of the food containers 60 (examplesof a container) mounted thereon at predetermined intervals in the traveldirection. At this point in time, the container transfer conveyor 2 isoperated not intermittently but continuously. A food such as rice or aside dish is arranged in the food container 60 in an unillustrated foodarrangement line placed on the upstream side of the container transferconveyor 2. The food container 60 includes a flange 61 around an upperend of an opening.

A container detection sensor 29 is placed at an entrance at the upstreamend of the container transfer conveyor 2 (an entrance of the rollerconveyor 18). The container detection sensor 29 detects whether or notthe food container 60 has been carried into the entrance of thecontainer transfer conveyor 2. A detection result of the containerdetection sensor 29 is transmitted to the controller 12.

The container centering apparatus 5 (an example of an alignmentapparatus) is placed above the roller conveyor 18. In FIG. 1, in orderto avoid complexity, only two centering arms 51A and 51B of thecontainer centering apparatus 5 are illustrated. The container centeringapparatus 5 is connected to the controller 12, and executes a centeringoperation on the food container 60 under control of the controller 12.In other words, the controller 12 drives the container centeringapparatus 5 when the food container 60 is detected at the entrance ofthe container transfer conveyor 2. The container centering apparatus 5sandwiches the food container 60 on the roller conveyor 18 from bothsides, using the two centering aims 51A and 51B. Consequently, thecontainer centering apparatus 5 moves the food container 60 to, forexample, a center position (center line) in the width direction of thecontainer transfer conveyor 2 (the Y-axis direction), and centers thefood container 60 (aligns the food container 60). The configuration ofthe container centering apparatus 5 is described in detail below (referto FIG. 4 described below).

The container illumination apparatus 6 (an example of an illuminationapparatus) is placed below the conveyor belt 13 at the upstream side ofthe container clamping apparatus 3. Moreover, the container positiondetection camera 7 (an example of a position sensor) is placed above thecontainer illumination apparatus 6 with the conveyor belt 13 sandwichedtherebetween. The container illumination apparatus 6 is, for example, apanel illumination lamp where a plurality of LEDs is housed. Thecontainer illumination apparatus 6 is configured to have, for example, aflat plate shape with a size that can cover the conveyor belt 13 of thecontainer transfer conveyor 2 along the width direction. The containerillumination apparatus 6 applies illumination light upward.Consequently, the container illumination apparatus 6 illuminates thefood container 60 transferred by the container transfer conveyor 2 frombelow via the light transmissive conveyor belt 13. The containerposition detection camera 7 captures, from above, an image of the foodcontainer 60 illuminated by the container illumination apparatus 6 viathe conveyor belt 13. Consequently, the container position detectioncamera 7 detects the position of the food container 60, that is, theposition on coordinates in the X-Y plane (the position on the X-axis andthe position on the Y-axis) and the rotation angle in the X-Y plane (arotation angle θ about the Z-axis) of the food container 60. Thedetected position data of the food container 60 is transmitted to thecontroller 12.

The container clamping apparatus 3 (an example of a holding apparatus)is placed on downstream side of the container illumination apparatus 6.The container clamping apparatus 3 includes two clamp arms 31A and 31Blocated on both sides of the container transfer conveyor 2 in the widthdirection. Each of the clamp arms 31A and 31B is provided in such amanner as to be able to be freely and independently driven to open andclose in directions of moving away from and closer to each other and berotatable about the Z-axis. The container clamping apparatus 3 isconnected to the controller 12 and executes an operation of holding thefood container 60 under control of the controller 12.

The container clamping apparatus 3 supports a side portion (side wall)of the food container 60 transferred by the container transfer conveyor2, using the two clamp arms 31A and 31B. The “side portion” here is aportion of the food container 60 excluding a bottom that comes intocontact with the container transfer conveyor 2. The “side portion”includes, for example, a side surface and the flange of the foodcontainer 60. In the embodiment, the two clamp aims 31A and 31B supportan underside of the flange 61 (refer to FIG. 5) of the food container 60as an example of the side portion. In this state, the food container 60is held in a lidding position 21 where the lidding robot 4 places a lidon, while floating off the conveyor belt 13. Upon holding the foodcontainer 60, firstly, the control of the controller 12 based on theposition data of the food container 60 allows the clamp aims 31A and 31Bto move to positions corresponding to the deviation of the position ofthe food container 60 from the lidding position and wait there. When thefood container 60 has been transferred, the clamp arms 31A and 31B movetoward the food container 60 (in a direction where the clamp antis 31Aand 31B close), and supports the flange 61 from below. At this point intime, the food container 60 is raised a predetermined distance from theconveyor belt 13 to enter the floating state. The clamp arms 31A and 31Bthen move the food container 60 to the lidding position 21 whilecorrecting the deviation of the position from the lidding position 21,and holds the food container 60 in this position. The configuration ofthe container clamping apparatus 3 is described in detail below (referto FIGS. 2 and 3 described below).

Each of the two lid feeding apparatuses 23 houses a plurality of lids 70stacked in the up-and-down direction. A lid tray 19 is placed below theplurality of lids 70. The lid feeding apparatus 23 separates the lids70, one by one, from the bottom of the plurality of stacked lids 70, andmounts the lid 70 on the lid tray 19 placed below. The lid transferapparatus 22 is placed between each lid feeding apparatus 23 and a lidreceiving position 20 being a position where the lidding robot 4receives a lid. The lid transfer apparatus 22 moves the lid tray 19 totransfer the lid 70 mounted on the lid tray 19 alternately from the twolid feeding apparatuses 23 to the lid receiving position 20. In thismanner, a working step of feeding the lid 70 is performed in parallel toenable a reduction in cycle time.

The lid illumination apparatus 24 is placed below the lid receivingposition 20. The lid position detection camera 25 is placed above thelid receiving position 20. The lid tray 19 is made of a lighttransmissive material. The lid illumination apparatus 24 is, forexample, a panel illumination lamp where a plurality of LEDs is housed.The lid illumination apparatus 24 is configured to have, for example, aflat plate shape larger than the lid tray 19. The lid illuminationapparatus 24 applies illumination light upward. Consequently, the lidillumination apparatus 24 illuminates the lid 70 transferred to the lidreceiving position 20 from below via the lid tray 19. Consequently, thenecessity of placing a light above the separated lid 70 is eliminated.Hence, a constraint on the motion of the lidding robot 4 is reduced.Accordingly, the lidding robot 4 can hold the lid 70 with small motion.Hence, tact time can be reduced. The lid position detection camera 25captures, from above, an image of the lid 70 illuminated with theillumination light. Consequently, the lid position detection camera 25detects the position of the lid 70, that is, the position on coordinatesin the X-Y plane (the position on the X-axis and the position on theY-axis) and the rotation angle in the X-Y plane (the rotation angle θabout the Z-axis) of the lid 70. The detected position data of the lid70 is transmitted to the controller 12.

The lidding robot 4 (an example of a lidding apparatus) is, for example,a vertical articulated or horizontal articulated robot, and includes asuction pad 4 a at a tip. Although an illustration is simplified in FIG.1, the suction pad 4 a has a shape that covers the lid 70 (refer toFIGS. 5 and 6 described below). The lidding robot 4 is connected to thecontroller 12, and executes a lidding operation under control of thecontroller 12. In other words, the lidding robot 4 causes the suctionpad 4 a to suction and hold the lid 70 transferred to the lid receivingposition 20. The lidding robot 4 then turns around in the horizontaldirection to carry the lid 70 to the lidding position 21. Furthermore,the lidding robot 4 presses the lid 70 against the food container 60held in the lidding position 21 and attaches the lid 70 to the foodcontainer 60. When the lid 70 is carried to the lidding position 21, thecontroller 12 performs control based on the position data. The controlallows the lidding robot 4 to carry the lid 70 to the lidding position21 while correcting the position of the lid 70 in such a manner as toreduce the deviations of the position and the attitude of the lid 70from the food container 60 held in the lidding position 21.

The configuration of the above-mentioned lidding system 1 is an example,and is not limited to the above-mentioned contents. For example, in thelidding system 1, the two lid feeding apparatuses 23 are placed. Insteadof this, three or more lid feeding apparatuses 23 may be placed topromote a further reduction in cycle time. Alternatively, especiallywhen a reduction in cycle time is not required, the number of the lidfeeding apparatuses 23 placed may be one. Moreover, instead of providingthe roller conveyor 18 on the upstream side of the container transferconveyor 2, for example, the width of the conveyor belt 13 may beincreased.

<2. Configuration of Container Clamping Apparatus>

Next, an example of the configuration of the container clampingapparatus is described with reference to FIGS. 2 and 3.

As illustrated in FIGS. 2 and 3, the container clamping apparatus 3includes the two clamp arms, that is, the first clamp arm 31A (anexample of a support member) and the second clamp arm 31B (an example ofa support member), first and second horizontal actuators 32A and 32B, arotary actuator 33, and an up-and-down motion actuator 34. The first andsecond horizontal actuators 32A and 32B move the first and second clamparms 31A and 31B, respectively, independently in the horizontaldirection. The rotary actuator 33 rotates the first and second clamparms 31A and 31B about the Z-axis. The up-and-down motion actuator 34moves the first and second clamp arms 31A and 31B in the Z-axisdirection.

The first clamp arm 31A is placed on one side of the conveyor belt 13 inthe width direction (the left side in FIG. 2 and the front side withrespect to the paper surface of FIG. 3). The second clamp arm 31B isplaced on the other side of the conveyor belt 13 in the width direction(the right side in FIG. 2 and the back side with respect to the papersurface of FIG. 3).

The first clamp arm 31A includes a plate-like head portion 36 having acontainer support portion 37, and a leg portion 38 provided integrallywith a lower part of the head portion 36. An attachment portion 38 a ofthe leg portion 38 is attached to the first horizontal actuator 32A.

The head portion 36 is placed on the one side of the conveyor belt 13 inthe width direction above an upper track of the conveyor belt 13. Arecess 36 a is formed on the conveyor belt 13 side of the head portion36. The container support portion 37 is provided along an edge of therecess 36 a on a top surface of the head portion 36. The containersupport portion 37 is a projection protruding upward from the headportion 36. The recess 36 a and the container support portion 37 matchthe shape of the food container 60 supported. In this example, therecess 36 a and the container support portion 37 are formed into, forexample, a rectangular shape, matching the rectangular food container60. The leg portion 38 includes, at a lower end, an attachment portion38 a placed below a lower track of the conveyor belt 13. The first clamparm 31A is attached to the first horizontal actuator 32A via theattachment portion 38 a.

The first horizontal actuator 32A includes a guide rail 40, a slider 41,and a servo motor 42. The guide rail 40 is attached to a top surface ofan actuator-specific base 39. The slider 41 is mounted on the guide rail40 in such a manner as to be movable along the guide rail 40. The servomotor 42 moves the slider 41 in a substantially horizontal direction.The attachment portion 38 a of the first clamp arm 31A is fixed to theslider 41.

The second clamp arm 31B has a placement configuration where the firstclamp arm 31A is rotated 180° about a rotation axis AX described below.In other words, the second clamp aim 31B includes the plate-like headportion 36 having the container support portion 37, and the leg portion38 provided integrally with the lower part of the head portion 36. Theattachment portion 38 a of the leg portion 38 is attached to the secondhorizontal actuator 32B.

The head portion 36 is placed on the other side of the conveyor belt 13in the width direction above the upper track of the conveyor belt 13.The recess 36 a is formed on the conveyor belt 13 side of the headportion 36. The container support portion 37 is provided along the edgeof the recess 36 a on the top surface of the head portion 36. Thecontainer support portion 37 is a projection protruding upward from thehead portion 36. The recess 36 a and the container support portion 37match the shape of the food container 60 to be supported. In thisexample, the recess 36 a and the container support portion 37 are formedinto, for example, a rectangular shape, matching the rectangular foodcontainer 60. The leg portion 38 includes, at the lower end, theattachment portion 38 a placed below the lower track of the conveyorbelt 13. The second clamp arm 31B is attached to the second horizontalactuator 32B via the attachment portion 38 a.

The second horizontal actuator 32B has a placement configuration wherethe first horizontal actuator 32A is rotated 180° about the rotationaxis AX. In other words, the second horizontal actuator 32B includes theguide rail 40, the slider 41, and the servo motor 42. The guide rail 40is attached to the top surface of the actuator-specific base 39. Theslider 41 is mounted on the guide rail 40 in such a manner as to bemovable along the guide rail 40. The servo motor 42 moves the slider 41in the substantially horizontal direction. The attachment portion 38 aof the second clamp arm 31B is fixed to the slider 41.

The rotary actuator 33 and the up-and-down motion actuator 34 are placedbelow the actuator-specific base 39.

The up-and-down motion actuator 34 includes a guide rail 44, a slider45, a linear-motion mechanism 46, and a servo motor 47. The guide rail44 is attached to an unillustrated frame of the container clampingapparatus 3. The slider 45 is mounted on the guide rail 44 in such amanner as to be movable along the guide rail 44. The linear-motionmechanism 46 is attached to a lower end of the guide rail 44. The servomotor 47 moves the slider 45 in a substantially up-and-down direction(the Z-axis direction) via the linear-motion mechanism 46.

The rotary actuator 33 includes a support body 48, a reduction gear 49attached to a lower end of the support body 48, a servo motor 50attached to a lower end of the reduction gear 49, and a base attachmentportion 49 a. The support body 48 is attached to the slider 45 of theup-and-down motion actuator 34. The base attachment portion 49 a isplaced above the support body 48 and coupled to an output shaft of thereduction gear 49. The actuator-specific base 39 is attached to the baseattachment portion 49 a.

The servo motor 42 moves the slider 41 along the guide rail 40 andaccordingly the first horizontal actuator 32A moves the first clamp arm31A attached to the slider 41, in a substantially horizontal directionindependently of the second clamp arm 31B. Similarly, the servo motor 42moves the slider 41 along the guide rail 40 and accordingly the secondhorizontal actuator 32B moves the second clamp arm 31B attached to theslider 41, in a substantially horizontal direction independently of thefirst clamp arm 31A. Consequently, the first clamp arm 31A and thesecond clamp arm 31B can perform an opening/closing operationindependently of each other.

Moreover, the servo motor 47 moves the slider 45 in the up-and-downdirection along the guide rail 44 via the linear-motion mechanism 46 andaccordingly the up-and-down motion actuator 34 lifts the rotary actuator33 up and down. Consequently, the actuator-specific base 39, the firsthorizontal actuator 32A, the second horizontal actuator 32B, the firstclamp arm 31A, the second clamp arm 31B, and the like, which areattached to the rotary actuator 33, move together in the up-and-downdirection.

Moreover, the servo motor 50 rotates the base attachment portion 49 avia the reduction gear 49 and accordingly the rotary actuator 33 rotatesthe actuator-specific base 39 about the rotation axis AX (an example ofa vertical axis) along the Z-axis direction. Consequently, the firsthorizontal actuator 32A, the second horizontal actuator 32B, the firstclamp arm 31A, and the second clamp arm 31B, which are attached to theactuator-specific base 39, rotate together about the rotation axis AX.

The above configuration allows the container clamping apparatus 3 tooperate the first and second clamp arms 31A and 31B independently ofeach other in the horizontal direction (a X-Y plane direction) and alsoin the up-and-down direction (the Z-axis direction) and the rotationdirection (the θ-axis direction). Consequently, even if the position ofthe food container 60 to be transferred deviates, it is possible to holdthe food container 60 in the deviated position, move the held foodcontainer 60 to the lidding position 21, and adjust the position of thefood container 60.

A plurality of types of the first clamp anus 31A and the second clamparms 31B are prepared according to the shapes and sizes of the foodcontainer 60. In other words, the first clamp arm 31A and the secondclamp arm 31B are configured to be replaceable. Each of the clamp arms31A and 31B may have a structure including a plurality of coupledmembers. In this case, the first clamp arm 31A and the second clamp arm31B may be, for example, configured in such a manner that only the headportion 36 is replaceable according to the shape and size of the foodcontainer 60.

<3. Configuration of Container Centering Apparatus>

Next, an example of the configuration of the container centeringapparatus is described with reference to FIG. 4.

As illustrated in FIG. 4, the container centering apparatus 5 includesthe first and second centering arms 51A and 51B, first and secondopening/closing actuators 52A and 52B, feed belts 53, and feedbelt-specific servo motors 54. The first and second opening/closingactuators 52A and 52B move the first and second centering arms 51A and51B, respectively, in the horizontal direction.

The first opening/closing actuator 52A and the second opening/closingactuator 52B are placed on a support plate 55 in a substantiallyhorizontal direction attached to an unillustrated frame of the containercentering apparatus 5.

The first centering arm 51A (an example of an arm member) includes anattachment portion 90, a support portion 91, and a lower end portion 93.The attachment portion 90 is attached to a top surface of a slider 57 ofthe first opening/closing actuator 52A, and protrudes toward theupstream side of the support plate 55 in the travel direction. Thesupport portion 91 is attached to an underside of the attachment portion90, and extends in the Z-axis direction. The lower end portion 93 isattached to a lower part of the support portion 91. The lower endportion 93 includes a pulley support portion 92. The pulley supportportion 92 is formed in such a manner as to be bent inward (toward thesecond centering arm 51B side). The pulley support portion 92 is asubstantially rectangular plate-like member extending in the X-axisdirection. Two pulleys 94 are attached at both ends in the traveldirection, respectively, on an underside of the pulley support portion92 (only the downstream pulley is illustrated in FIG. 4). The feed belt53 that comes into contact with the food container 60 looped between thetwo pulleys 94. The feed belt-specific servo motor 54 is placed on thesupport plate 95 attached to an outer surface of the support portion 91.The feed belt 53 is driven by the feed belt-specific servo motor 54. Thefeed belt 53 rotates in such a manner that a track on the inner side(the second centering arm 51B side) of the feed belt 53 moves at a speedequal to that of the container transfer conveyor 2 in the same directionas the travel direction of the container transfer conveyor 2. The feedbelt 53 may be made of a material with a large frictional force such asa rubber material. Alternatively, the feed belt 53 may be made of amaterial with a small frictional force such as resin or metal.

The first opening/closing actuator 52A includes a guide rail 56, aslider 57 mounted on the guide rail 56, and a servo motor 58 that drivesthe slider 57 via a reduction gear 59. The guide rail 56 is placed alongthe Y-axis direction on a top surface of the support plate 55 in aposition closer to one side in the width direction (the left side inFIG. 4). The servo motor 58 moves the slider 57 along the guide rail 56and accordingly the first opening/closing actuator 52A moves the firstcentering arm 51A in the Y-axis direction.

The second centering arm 51B (an example of an aim member) includes theattachment portion 90, the support portion 91, and the lower end portion93. The attachment portion 90 is attached to the top surface of theslider 57 of the second opening/closing actuator 52B, and protrudestoward the downstream side of the support plate 55 in the traveldirection. The support portion 91 is attached to the underside of theattachment portion 90, and extends in the Z-axis direction. The lowerend portion 93 is attached to the lower part of the support portion 91.The lower end portion 93 includes the pulley support portion 92. Thepulley support portion 92 is formed in such a manner as to be bentinward (toward the first centering arm 51A side). The pulley supportportion 92 is a substantially rectangular plate-like member extending inthe X-axis direction. The two pulleys 94 are attached at both ends inthe travel direction, respectively, on the underside of the pulleysupport portion 92 (only the downstream pulley is illustrated in FIG.4). The feed belt 53 that comes into contact with the food container 60looped between the two pulleys 94. The feed belt-specific servo motor 54is placed on the support plate 95 attached to the outer surface of thesupport portion 91. The feed belt 53 is driven by the feed belt-specificservo motor 54. The feed belt 53 rotates in such a manner that the trackon the inner side (the first centering arm 51A side) of the feed belt 53moves at a speed equal to the container transfer conveyor 2 in the samedirection as the travel direction of the container transfer conveyor 2.

The second opening/closing actuator 52B has a placement configurationwhere the first opening/closing actuator 52A is rotated approximately180° about the Z-axis. The second opening/closing actuator 52B includesthe guide rail 56, the slider 57 mounted on the guide rail 56, and theservo motor 58 that drives the slider 57 via the reduction gear 59. Theguide rail 56 is placed along the Y-axis direction on the top surface ofthe support plate 55 in a position closer to the one side in the widthdirection (the right side in FIG. 4). The servo motor 58 moves theslider 57 along the guide rail 56 and accordingly the secondopening/closing actuator 52B moves the second centering arm 51B in theY-axis direction.

The above configuration allows the container centering apparatus 5 tooperate the first centering arm 51A and the second centering arm 51Bindependently of each other in the Y-axis direction. Consequently, thefirst centering arm 51A and the second centering arm 51B can sandwichthe food container 60 carried from the upstream side to the entrance ofthe container transfer conveyor 2, from both sides. Furthermore, thefirst centering arm 51A and the second centering arm 51B can align thefood container 60 in such a manner as to cause the position of the foodcontainer 60 in the width direction to substantially agree with adesired position in the width direction (for example, the center line)on the container transfer conveyor 2. Moreover, at this point in time,the feed belt-specific servo motor 54 drives the feed belt 53 that comesinto contact with the food container 60 at a speed substantially equalto the travel speed of the container transfer conveyor 2 (the rollerconveyor 18). Hence, a reduction in the travel speed of the foodcontainer 60 can be suppressed.

The configuration of the above-mentioned container centering apparatus 5is an example, and is not limited to the above-mentioned contents. Forexample, in the above configuration, the first centering arm 51A and thesecond centering arm 51B can be driven independently of each other. Interms of this point, the first centering arm 51A and the secondcentering arm 51B may be configured to be driven by a single servo motorto open and close, using, for example, a rack and a pinion mechanism.However, the alignment position can be changed and adjusted afterward byconfiguring both arms to be capable of being driven independently usingtwo servo motors 58 as in the embodiment.

<4. Lidding Operation in Case of Lidding Rectangular Container ofExternal Fitting Type>

Next, an example of the lidding operation in a case of lidding therectangular container of an external fitting type is described withreference to FIGS. 5 to 7.

As illustrated in FIG. 5, the food container 60 is, for example, arectangular container. The food container 60 includes a substantiallycuboid container body 62. The flange 61 is provided around an upper endof an opening of the container body 62. A side portion 69 of the foodcontainer 60 includes a side surface and the flange 61 of the containerbody 62. As illustrated in an enlarged view in FIG. 5, the flange 61includes a flat portion 63 and a projection 64. The flat portion 63protrudes substantially horizontally and outward from the container body62. The projection 64 is bent downward at a substantially right anglefrom a tip of the flat portion 63. A recess 65 is formed in theunderside of the flange 61. On the other hand, the lid 70 includes a lidbody 72 of a substantially square frustum shape matching the rectangularshape of the food container 60. A flange 71 is provided around a lowerend of an opening of the lid body 72. As illustrated in an enlarged viewin FIG. 5, the flange 71 includes a flat portion 73 and a projection 74.The flat portion 73 protrudes substantially horizontally and outwardfrom the lid body 72. The projection 74 is bent downward at asubstantially right angle from a tip of the flat portion 73.

The suction pad 4 a includes a pad body 80 and a suction pipe 82. Thepad body 80 has a substantially cuboid shape matching a rectangularshape of the flange 71 of the lid 70. The suction pipe 82 is attached toa top surface of the pad body 80 via an attachment plate 81. The padbody 80 includes a substantially square tube frame-like pressing portion83, and an internal space 84. The pressing portion 83 comes into contactwith a top surface of the flat portion 73 of the flange 71 of the lid70. A negative pressure is formed in the internal space 84 under suctionvia the suction pipe 82. The suction pipe 82 in an upper part of the padbody 80 communicates with the internal space 84. The lidding robot 4places the suction pad 4 a on the lid 70 to bring a lower end of thepressing portion 83 into contact with the top surface of the flatportion 73 of the flange 71. The lidding robot 4 further forms anegative pressure in the internal space 84 via the suction pipe 82.Consequently, as illustrated in FIG. 6, the lid 70 is suctioned and heldby the suction pad 4 a while the lid body 72 is housed in the pad body80.

A plurality of types of the suction pads 4 a is prepared according tothe shapes and sizes of the lids 70. In other words, the suction pad 4 ais configured to be replaceable for the lidding robot 4 according to theshape and size of the lid 70.

As described above, the recesses 36 a and the container support portions37 of the head portions 36 of the first and second clamp arms 31A and31B of the container clamping apparatus 3 are formed into a rectangularshape matching the rectangular shape of the food container 60. Uponholding the food container 60, the head portions 36 of the clamp arms31A and 31B sandwich the container body 62 from both sides and ascend asillustrated in FIG. 5. Consequently, as illustrated in an enlarged viewin FIG. 6, the container support portion 37 is fitted into the recess 65of the flange 61 of the food container 60 to support the flat portion 63of the flange 61 and hold the food container 60 while the food container60 is floating off the conveyor belt 13.

As illustrated in FIG. 6, the lid 70 suctioned by the lidding robot 4onto the suction pad 4 a is then pressed against the food container 60held by the clamp antis 31A and 31B. At this point in time, the pressingportion 83 of the suction pad 4 a and the container support portions 37of the clamp arms 31A and 31B sandwich the flanges 61 and 71.Consequently, as illustrated in an enlarged view in FIG. 7, the flatportion 73 of the flange 71 of the lid 70 is placed on a top surface ofthe flat portion 63 of the flange 61 of the food container 60.Furthermore, the projection 74 of the flange 71 of the lid 70 is placedon an external surface of the projection 64 of the flange 61 of the foodcontainer 60. As a result, the lid 70 is attached to the food container60 in what is called an external fitting state.

<5. Processing Contents of Controller in Lidding Step>

Next, an example of processing contents to be executed by the controller12 in a lidding step is described with reference to FIG. 8.

In step S10, the controller 12 drives the conveyor motor 15 and drivesthe container transfer conveyor 2. The container transfer conveyor 2 isthen continuously operated, and in steps S60 to S80 described below,also continues operating while the container clamping apparatus 3 isholding the food container 60.

In step S20, the controller 12 determines whether or not the containerdetection sensor 29 has detected the food container 60 at the entranceof the container transfer conveyor 2. If the food container 60 has notbeen detected (step S20: No), step S20 is repeated until the foodcontainer 60 is detected. If the food container 60 has been detected(step S20: Yes), execution shifts to step S30.

In step S30, the controller 12 controls the container centeringapparatus 5, and causes the first and second centering arms 51A and 51Bto align the food container 60 in such a manner as to substantiallyagree with, for example, the center line of the container transferconveyor 2. At the same time, the controller 12 drives the feed belts 53at a speed substantially equal to the travel speed of the containertransfer conveyor 2. Consequently, the controller 12 suppresses areduction in the travel speed of the food container 60 due to centering.

In step S40, the controller 12 causes the container position detectioncamera 7 to capture an image of the food container 60 from above, anddetect the position (the position on the X-axis, the position on theY-axis, and the rotation angle θ about the Z-axis) of the food container60.

In step S50, the controller 12 controls the container clamping apparatus3 on the basis of the detected position of the food container 60, andadjusts the positions of the first and second clamp arms 31A and 31B ofthe container clamping apparatus 3 to positions corresponding to theposition and the attitude of the food container 60. In other words, thecontroller 12 forms a clamping attitude, adjusting to the deviation ofthe position and the inclined attitude of the food container 60.

FIGS. 9A and 9B illustrate an example of operations at this point intime. As illustrated in FIG. 9A, the food container 60 is transferred inan attitude inclining to the θ-axis direction, deviating from the centerline of the conveyor belt 13. In order to facilitate description, inFIGS. 9A to 9C, the deviation of the position is enhanced andillustrated. As illustrated in FIG. 9B, the positions of the first andsecond clamp arms 31A and 31B are adjusted to positions corresponding tothe deviated position and attitude of the food container 60.

In step S60, the controller 12 controls the container clamping apparatus3 and moves the first and second clamp arms 31A and 31B toward the foodcontainer 60. The controller 12 then causes the first and second clamparms 31A and 31B to support the flange 61 of the food container 60, liftthe food container 60, which stays in the deviated attitude, off thecontainer transfer conveyor 2, and hold the food container 60 in thefloating state. FIG. 9C illustrates an example of the operation of theclamp arms 31A and 31B and the like at this point in time. Furthermore,the controller 12 controls the container clamping apparatus 3 and causesthe clamp at arms 31A and 31B to move the held food container 60 to thelidding position 21. Consequently, the deviation of the position of thefood container 60 is corrected. FIG. 9D illustrates an example of theoperation of the clamp arms 31A and 31B and the like at this point intime.

In step S70, the controller 12 causes the lid position detection camera25 to capture an image of the lid 70 from above, and detect the position(the position on the X-axis, the position of the Y-axis, and therotation angle θ about the Z-axis) of the lid 70.

In step S80, the controller 12 controls the lidding robot 4 on the basisof the detected position of the lid 70, and causes the suction pad 4 ato suction the lid 70 in the lid receiving position 20. Furthermore, thecontroller 12 controls the lidding robot 4, carries the suctioned lid 70from the lid receiving position 20 to the lidding position 21, pressesthe lid 70 against the food container 60 held by the clamp arms 31A and31B in the lidding position 21, and places the lid 70 on the foodcontainer 60. In the lid receiving position 20, the position (theposition on the X-axis, the position on the Y-axis, and the rotationangle θ about the Z-axis) of the lid 70 may deviate. In this case, thelidding robot 4 corrects the deviation of the position of the lid 70while carrying the lid 70 from the lid receiving position 20 to thelidding position 21. Consequently, the lidding robot 4 adjusts theposition and attitude of the lid 70 to a position and attitudecorresponding to the food container 60 held in the lidding position 21.

In step S90, the controller 12 controls the container clamping apparatus3, opens the clamp arms 31A and 31B, releases hold of the food container60, and returns the food container 60 to which the lid 70 has beenattached onto the conveyor belt 13 of the container transfer conveyor 2.Consequently, the food container 60 to which the lid 70 has beenattached is carried out of a container exit of the container transferconveyor 2. The above step ends this flow.

The above-mentioned processing steps are examples. At least part of theabove steps may be deleted or changed. A step other than the above stepsmay be added. For example, when a user operates the container transferconveyor 2 manually, step S10 described above may be omitted.

<6. Effects of Embodiment>

As described above, the lidding system 1 of the embodiment includes thecontainer transfer conveyor 2 that transfers the food container 60, thecontainer clamping apparatus 3 that holds, in the lidding position 21,the food container 60 transferred by the container transfer conveyor 2while supporting the side portion 69 of the food container 60, and thelidding robot 4 that presses the lid 70 against the food container 60held by the container clamping apparatus 3 to place the lid 70 on.Consequently, the following effects are exerted.

In other words, according to the embodiment, upon placing a lid on, thelid 70 is pressed against the food container 60 while the side portion69 of the food container 60 is being supported. The side portion 69 ofthe food container 60 is supported and accordingly compressive force canbe suppressed from acting on the container body 62 upon pressing the lid70. Consequently, even if the strength of the food container 60 is low,it is possible to suppress the container from being deformed.Accordingly, the reliability of placing a lid on can be improved.

Moreover, especially in the embodiment, the food container 60 includesthe flange 61, and the container clamping apparatus 3 supports theunderside of the flange 61. The flange 61 is generally provided at theupper end of the container body 62. Therefore, the flange 61 issupported to enable an increase in the effect of suppressing thecompressive force from acting on the container body 62 upon pressing thelid 70.

Moreover, especially in the embodiment, the container clamping apparatus3 holds the food container 60 while the food container 60 is floatingoff the container transfer conveyor 2. The container transfer conveyor 2continues operating also while the container clamping apparatus 3 isholding the food container 60.

Consequently, the necessity of intermittently operating the containertransfer conveyor 2 is eliminated, and the container transfer conveyor 2can be continuously operated at a constant speed. As a result, the cycletime of the lidding step can be reduced, and also the apparatusconfiguration (can be driven by a single motor) and control of thecontainer transfer conveyor 2 can be simplified.

Moreover, especially in the embodiment, the lidding system 1 furtherincludes the container position detection camera 7 that detects theposition of the food container 60 transferred by the container transferconveyor 2, and the controller 12 that controls the container clampingapparatus 3 in such a manner as to move the food container 60 by theamount of the deviation of the position from the lidding position 21 onthe basis of position data output from the container position detectioncamera 7, and hold the food container 60 in the lidding position 21.Consequently, the following effects are exerted.

In other words, in the upstream steps of the lidding step to be executedby the lidding system 1, for example, a step of placing a food being thecontent in the food container 60 is executed. In the upstream steps, theposition of the food container 60 may deviate from a predeterminedposition (a position in the width direction corresponding to the liddingposition 21). According to the embodiment, the container clampingapparatus 3 can correct the deviation of the position, move the foodcontainer 60 to the preset lidding position 21, and then hold the foodcontainer 60. Consequently, the accuracy of positioning the foodcontainer 60 can be improved. Accordingly, the reliability of placing alid on can be improved. Moreover, the lidding robot 4 can place a lid onin the fixed lidding position 21. Hence, the cycle time of the liddingstep can be reduced.

Moreover, especially in the embodiment, the container clamping apparatus3 includes the two clamp arms 31A and 31B that support the flange 61 ofthe food container 60, and the two horizontal actuators 32A and 32B thatmove the clamp arms 31A and 31B, respectively, independently in thehorizontal direction. The controller 12 controls the two horizontalactuators 32A and 32B on the basis of position data in such a manner asto move the food container 60 by the amount of the deviation of theposition in the horizontal direction from the lidding position 21.Consequently, the following effects are exerted.

In other words, according to the embodiment, even if the position of thefood container 60 deviates in the horizontal direction (the X- andY-axis directions) in the upstream steps, the food container 60 can beheld in the lidding position 21 after the horizontal actuators 32A and32B correct the deviation of the position. Consequently, the accuracy ofpositioning the food container 60 can be improved. Accordingly, thereliability of placing a lid on can be improved. Moreover, the liddingrobot 4 can place a lid on in the fixed lidding position. Hence, thecycle time of the lidding step can be reduced.

Moreover, especially in the embodiment, the container clamping apparatus3 includes the rotary actuator 33 that rotates the two clamp arms 31Aand 31B about the rotation axis AX. The controller 12 controls therotary actuator 33 on the basis of position data in such a manner as tomove the food container 60 by the amount of the deviation of theposition in the rotation direction from the lidding position 21.Consequently, the following effects are exerted.

In other words, according to the embodiment, even if the position of thefood container 60 deviates in the rotation direction (the θ-axisdirection) in the upstream steps, the food container 60 can be held inthe lidding position 21 after the rotary actuator 33 corrects thedeviation of the position. Consequently, the accuracy of positioning thefood container 60 can be improved. Accordingly, the reliability ofplacing a lid on can be improved. Moreover, the lidding robot 4 canplace a lid on in the fixed lidding position and attitude. Hence, thecycle time of the lidding step can be reduced.

Moreover, especially in the embodiment, the lidding system 1 includesthe container illumination apparatus 6 that illuminates, from below, thefood container 60 to be transferred by the container transfer conveyor2. The container transfer conveyor 2 is a transfer conveyor includingthe light transmissive conveyor belt 13 that transmits light from thecontainer illumination apparatus 6. The container position detectioncamera 7 is a camera that captures, from above, an image of the foodcontainer 60 illuminated by the container illumination apparatus 6 viathe conveyor belt 13. Consequently, the following effects are exerted.

In other words, according to the embodiment, light is applied frombehind the food container 60, and an image of the food container 60 iscaptured by the camera 7. Consequently, the contour of the foodcontainer 60 can be made clear (what is called transmitted lightphotography) naturally if the food container 60 is opaque but also ifthe food container 60 is transparent. Consequently, the accuracy ofdetecting the position of the food container 60 can be improved.Moreover, there is no need to place a light above the container transferconveyor 2. Hence, a constraint on the motion of the lidding robot 4 isreduced. Accordingly, the lidding robot 4 can perform the carriage andplacement of the lid 70 with small motion. Hence, tact time can bereduced.

Moreover, especially in the embodiment, the lidding system 1 includesthe container centering apparatus 5. The container centering apparatus 5is placed upstream of the container clamping apparatus 3 in the traveldirection of the container transfer conveyor 2. The container centeringapparatus 5 moves the food container 60 transferred by the containertransfer conveyor 2 toward a position corresponding to the liddingposition 21 in the width direction perpendicular to the traveldirection. Consequently, the following effects are exerted.

In other words, according to the embodiment, the upstream containercentering apparatus 5 can adjust in advance the position of the foodcontainer 60 in the width direction in such a manner that the deviationof the position of the food container 60 in the width direction fallswithin a range that can be corrected by the container clamping apparatus3. In other words, it becomes possible to roughly adjust the position ofthe food container 60 using the container centering apparatus 5, andfinely adjust the position of the food container 60 using the containerclamping apparatus 3. Consequently, positioning time upon fineadjustment of the food container 60 is reduced. Hence, tact time can bereduced.

Moreover, especially in the embodiment, the container centeringapparatus 5 includes the pair of centering aims 51A and 51B that areplaced facing each other in the width direction to sandwich the foodcontainer 60, the opening/closing actuators 52A and 52B that open andclose the pair of centering arms 51A and 51B in the width direction, andthe feed belts 53 that are placed in the contact portions of the pair ofcentering aims 51A and 51B with the food container 60, respectively, tobe circulated and driven at the same travel speed as the containertransfer conveyor 2. Consequently, the following effects are exerted.

In other words, in the container centering apparatus 5, the pair ofcentering arms 51A and 51B comes into contact with the food container 60in such a manner as to sandwich the food container 60 that is beingtransferred and accordingly moves the food container 60 to apredetermined position. At this point in time, the stop of the transferof the food container 60, or a reduction in the travel speed of the foodcontainer 60, due to friction against the centering arms 51A and 51B maylead to an increase in cycle time in the lidding step and also to atrouble such as a bump from behind on the upstream food container 60.

According to the embodiment, the contact portions of the centering arms51A and 51B with the food container 60 are provided with the feed belts53 that are circulated and driven at the same travel speed as thecontainer transfer conveyor 2, respectively. Hence, it is possible tomove the food container 60 in a predetermined position in the widthdirection while suppressing an influence given to the travel speed ofthe food container 60. Therefore, it is possible to suppress an increasein the cycle time of the lidding step and occurrence of a trouble suchas a bump from behind on the upstream food container 60.

Moreover, especially in the embodiment, the container clamping apparatus3 includes the two clamp arms 31A and 31B that support the flange 61 ofthe food container 60. The clamp arms 31A and 31B are configured to bereplaceable according to the shape of the food container 60.

According to the embodiment, the clamp arms 31A and 31B of the containerclamping apparatus 3 can be replaced according to the shape of the foodcontainer 60. Consequently, the container clamping apparatus 3 canhandle containers of various shapes flexibly.

Moreover, especially in the embodiment, the lidding robot 4 is anarticulated robot that includes, at the tip, the suction pad 4 a thatsuctions the lid 70, carries the lid 70 fed to the lid receivingposition 20 to the lidding position 21, and places a lid on. The suctionpad 4 a is configured to be replaceable according to the shape of thelid 70.

According to the embodiment, the articulated lidding robot 4 is used asthe lidding apparatus. Hence, the number of axes of the lidding robot 4can be increased if necessary. Consequently, the degree of freedom inthe travel path and positioning of the lid 70 can be increased.Moreover, the suction pad 4 a suctions the lid 70 and presses the lid 70against the food container 60. Hence, the lidding robot 4 can place alid on in both cases where the food container 60 is a container of theexternal fitting type and where the food container 60 is a container ofthe internal fitting type (refer to FIGS. 10 and 11 described below).Furthermore, the suction pad 4 a of the lidding robot 4 is replacedaccording to the shape of the lid 70, and accordingly the lidding robot4 can handle lids of various shapes flexibly.

<7. Modifications>

Embodiments of the disclosure are not limited to the above. Theembodiment of the disclosure can be modified in various manners withinthe scope that does not depart from a gist and a technical idea thereof.Such modifications are described below.

(7-1. In Case of Lidding Circular Container of Internal Fitting Type)

In the embodiment, the case where the lid 70 is placed on therectangular food container 60 of the external fitting type has beendescribed as an example. According to one embodiment of the presentdisclosure, the lidding system 1 can handle food containers of variousshapes flexibly by replacing the clamp arms 31A and 31B of the containerclamping apparatus 3 and the suction pad 4 a of the lidding robot 4according to the shape of the food container 60. In this modification,an example of a lidding operation in a case of lidding a circularcontainer of the internal fitting type is described with reference toFIGS. 10 to 12.

As illustrated in FIG. 10, a food container 160 being, for example, acircular container includes a substantially cylindrical container body162. A flange 161 is provided around an upper end of an opening of thecontainer body 162. A side portion 169 of the food container 160includes a side surface and the flange 161 of the container body 162. Asillustrated in an enlarged view in FIG. 10, the flange 161 includes afirst flat portion 163, a perpendicular portion 164, a second flatportion 165, and a projection 166. The first flat portion 163 protrudessubstantially horizontally and outward from the container body 162. Theperpendicular portion 164 is bent upward at a substantially right anglefrom a tip of the first flat portion 163. The second flat portion 165protrudes substantially horizontally and outward from a tip of theperpendicular portion 164. The projection 166 is bent downward at asubstantially right angle from a tip of the second flat portion 165. Arecess 167 is formed in an underside of the flange 161. On the otherhand, a lid 170 includes a lid body 172 of a substantially truncatedcone shape matching the circular shape of the food container 160. Aflange 171 is provided around a lower end of an opening of the lid body172. As illustrated in an enlarged view in FIG. 10, the flange 171includes a flat portion 173, a perpendicular portion 174, and aprojection 175. The flat portion 173 protrudes substantiallyhorizontally and outward from the lid body 172. The perpendicularportion 174 is bent upward at a substantially right angle from a tip ofthe flat portion 173. The projection 175 protrudes substantiallyhorizontally and outward from a tip of the perpendicular portion 174.

A suction pad 104 a includes a pad body 180 and a suction pipe 182. Thepad body 180 has a substantially cylindrical shape matching the circularshape of the flange 171 of the lid 170. The suction pipe 182 is attachedto a top surface of the pad body 180 via an attachment plate 181. Thepad body 180 includes a substantially cylindrical frame-like pressingportion 183, and an internal space 184. The pressing portion 183 comesinto contact with a top surface of the flat portion 173 of the flange171 of the lid 170. A negative pressure is formed in the internal space184 under suction via the suction pipe 182. The suction pipe 182 in anupper part of the pad body 180 communicates with the internal space 184.The lidding robot 4 places the suction pad 104 a on the lid 170 to bringa lower end of the pressing portion 183 into contact with the topsurface of the flat portion 173 of the flange 171. The lidding robot 4further forms a negative pressure in the internal space 184 via thesuction pipe 182. Consequently, as illustrated in FIG. 11, the lid 170is suctioned and held by the suction pad 104 a while the lid body 172 ishoused in the pad body 180.

Recesses 136 a and container support portions 137 of head portions 136of first and second clamp arms 131A and 131B of the container clampingapparatus 3 are formed in an arc shape matching the circular shape ofthe food container 160. As illustrated in FIG. 10, upon holding the foodcontainer 160, the head portions 136 of the clamp arms 131A and 131Bsandwich the container body 162 from both sides and ascend.Consequently, as illustrated in an enlarged view in FIG. 11, thecontainer support portion 137 is fitted into the recess 167 of theflange 161 of the food container 160, supports the first flat portion163 of the flange 161, and holds the food container 160 while the foodcontainer 160 is floating off the conveyor belt 13.

As illustrated in FIG. 11, the lid 170 suctioned by the lidding robot 4onto the suction pad 104 a is pressed against the food container 160held by the clamp arms 131A and 131B. At this point in time, the flanges161 and 171 are sandwiched by the pressing portion 183 of the suctionpad 104 a and the container support portions 137 of the clamp arms 131Aand 131B. Consequently, as illustrated in an enlarged view in FIG. 12,the flat portion 173 of the flange 171 of the lid 170 is placed on a topsurface of the first flat portion 163 of the flange 161 of the foodcontainer 160. Furthermore, the perpendicular portion 174 of the flange171 of the lid 170 is placed on the perpendicular portion 164 of theflange 161 of the food container 160. Consequently, the projection 175of the flange 171 of the lid 170 is placed on a top surface of thesecond flat portion 165 of the flange 161 of the food container 160. Asa result, the lid 170 is attached to the food container 160 in what iscalled an internal fitting state.

As described above, the lidding system 1 according to one embodiment ofthe present disclosure can also be applied to the case of placing thelid 170 on the container 160 of the internal fitting type. In terms of acontainer of the internal fitting type, water droplets generated, forexample, when a food being the content is heated in a microwave ovenhardly leak out from the container. Hence, the container of the internalfitting type is used as a microwavable container. According to thismodification, also if such a container is used, the reliability ofplacing a lid on can be improved.

(7-2. Others)

In the above example, the articulated robot is used as the liddingapparatus. A special purpose machine other than a robot may be used asthe lidding apparatus. Moreover, in the above example, the containerclamping apparatus 3 corrects the deviation of the position of the foodcontainer 60. Instead of correcting the deviation of the position of thefood container 60 with the container clamping apparatus 3, the liddingrobot 4 may correct a transfer destination position of the lid 70. Inthis case, the necessity of the rotary actuator 33 is eliminated, andthe horizontal actuators 32A and 32B can be configured as a single axis.Hence, the container clamping apparatus 3 can be simplified.

When the above description contains expressions such as “perpendicular”,“parallel”, and “plane”, these expressions do not strictly indicate“perpendicular”, “parallel”, and “plane”. In other words, design andmanufacturing tolerances and errors are permitted in these expressions“perpendicular”, “parallel”, and “plane”. These expressions indicate“substantially perpendicular”, “substantially parallel,” and“substantially plane”, respectively.

Moreover, when the above description contains expressions such as“identical”, “same”, “equal”, and “different” in dimension, size, shape,position, and the like in terms of the external appearance of a member,these expressions do not strictly indicate “identical”, “same”, “equal”,“different”, and the like. In other words, design and manufacturingtolerances and errors are permitted in these expressions “identical”,“same”, “equal”, and “different”. These expressions indicate“substantially identical,” “substantially same,” “substantially equal”,and “substantially different”, respectively.

Moreover, in addition to those already described above, the methods bythe embodiment may be used in combination as appropriate. In addition,although illustrations are not presented one by one, the embodiment maybe modified in various manners and carried out within the scope thatdoes not depart from the gist of the technology of the presentdisclosure.

Embodiments of the present disclosure may be the following first toeleventh lidding systems and first lidding method.

The first lidding system is characterized by including: a transferapparatus configured to transfer a container; a holding apparatusconfigured to support a side portion of the container to be transferredby the transfer apparatus and hold the container in a lidding position;and a lidding apparatus configured to press a lid against the containerheld by the holding apparatus and place the lid on.

The second lidding system is the first lidding system characterized inthat the container has a flange, and the holding apparatus supports anunderside of the flange.

The third lidding system is the first or second lidding systemcharacterized in that the holding apparatus holds the container in astate where the container is floating off the transfer apparatus, andthe transfer apparatus continues operating also while the holdingapparatus is holding the container.

The fourth lidding system is any of the first to third lidding systemscharacterized by further including: a position sensor to be configuredto detect a position of the container transferred by the transferapparatus; and a controller configured to control the holding apparatuson the basis of position data output from the position sensor in such amanner as to move the container by the amount of the deviation of theposition from the lidding position and hold the container in the liddingposition.

The fifth lidding system is the fourth lidding system characterized inthat the holding apparatus has a plurality of support members configuredto support the side portion of the container, and a plurality ofhorizontal actuators configured to move the plurality of supportmembers, respectively, independently in a horizontal direction, and thecontroller controls the plurality of horizontal actuators on the basisof the position data in such a manner as to move the container by theamount of the deviation of the position in the horizontal direction fromthe lidding position.

The sixth lidding system is the fourth or fifth lidding systemcharacterized in that the holding apparatus has a plurality of supportmembers configured to support the side portion of the container, and arotary actuator configured to rotate the plurality of support membersabout a vertical axis, and the controller controls the rotary actuatoron the basis of the position data in such a manner as to move thecontainer by the amount of the deviation of the position in the rotationdirection from the lidding position.

The seventh lidding system is any of the fourth to sixth lidding systemscharacterized by further including an illumination apparatus configuredto illuminate, from below, the container to be transferred by thetransfer apparatus, wherein the transfer apparatus is a transferconveyor having a light transmissive belt that transmits light from theillumination apparatus, and the position sensor is a camera thatcaptures, from above, an image of the container illuminated by theillumination apparatus via the belt.

The eighth lidding system is any of the first to seventh lidding systemscharacterized by further including an alignment apparatus placedupstream of the holding apparatus in a travel direction of the transferapparatus to move the container to be transferred by the transferapparatus toward a position corresponding to the lidding position in awidth direction perpendicular to the travel direction.

The ninth lidding system is the eighth lidding system characterized inthat the alignment apparatus has a pair of arm members placed facingeach other in the width direction to sandwich the container,opening/closing actuators configured to open and close the pair of armmembers in the width direction, and feed belts placed in contactportions of the pair of arm members with the container to be circulatedand driven at the same travel speed as the transfer apparatus.

The tenth lidding system is any of the first to ninth lidding systemscharacterized in that the holding apparatus has a plurality of supportmembers configured to support the side portion of the container, and thesupport members are configured to be replaceable according to the shapeof the container.

The eleventh lidding system is any of the first to tenth lidding systemscharacterized in that the lidding apparatus is an articulated robothaving, at a tip, a suction pad that suctions the lid, the articulatedrobot being configured to carry the lid fed to a lid receiving positionto the lidding position and place the lid on, and the suction pad isconfigured to be replaceable according to the shape of the lid.

The first lidding method is a lidding method that is executed by alidding system, characterized by including: transferring a container;supporting a side portion of the container to be transferred and holdingthe container in a lidding position; and pressing a lid against the heldcontainer and placing the lid on.

The foregoing detailed description has been presented for the purposesof illustration and description. Many modifications and variations arepossible in light of the above teaching. It is not intended to beexhaustive or to limit the subject matter described herein to theprecise form disclosed. Although the subject matter has been describedin language specific to structural features and/or methodological acts,it is to be understood that the subject matter defined in the appendedclaims is not necessarily limited to the specific features or actsdescribed above. Rather, the specific features and acts described aboveare disclosed as example forms of implementing the claims appendedhereto.

What is claimed is:
 1. A lidding system comprising: a transfer apparatusconfigured to transfer a container which is put on the transferapparatus such that a bottom of the container contacts the transferapparatus, the container having an opening opposite to the bottom and aside wall extending from the bottom to the opening; a holding apparatusconfigured to hold the side wall of the container at a lidding position;and a lidding apparatus configured to press a lid against the containerheld by the holding apparatus to close the opening.
 2. The liddingsystem according to claim 1, wherein the container includes a flange onthe side wall, and the holding apparatus is configured to support anunderside of the flange.
 3. The lidding system according to claim 1,wherein the holding apparatus is configured to hold the container tolift the container from the transfer apparatus, and the transferapparatus is configured to continue operating even while the holdingapparatus holds the container.
 4. The lidding system according to claim2, wherein the holding apparatus is configured to hold the container tolift the container from the transfer apparatus, and the transferapparatus is configured to continue operating even while the holdingapparatus holds the container.
 5. The lidding system according to claim1, further comprising: a position sensor configured to detect a positionof the container; and a processor configured to control the holdingapparatus based on position data output from the position sensor so asto move the container to the lidding position.
 6. The lidding systemaccording to claim 2, further comprising: a position sensor configuredto detect a position of the container; and a processor configured tocontrol the holding apparatus based on position data output from theposition sensor so as to move the container to the lidding position. 7.The lidding system according to claim 3, further comprising: a positionsensor configured to detect a position of the container; and a processorconfigured to control the holding apparatus based on position dataoutput from the position sensor so as to move the container to thelidding position.
 8. The lidding system according to claim 5, whereinthe holding apparatus comprises a plurality of support membersconfigured to support the side wall of the container, and a plurality ofhorizontal actuators configured to move the plurality of supportmembers, respectively, independently in a substantially horizontaldirection, and the processor is configured to control the plurality ofhorizontal actuators based on the position data so as to move thecontainer to the lidding position.
 9. The lidding system according toclaim 6, wherein the holding apparatus comprises a plurality of supportmembers configured to support the side wall of the container, and aplurality of horizontal actuators configured to move the plurality ofsupport members, respectively, independently in a substantiallyhorizontal direction, and the processor is configured to control theplurality of horizontal actuators based on the position data so as tomove the container to the lidding position.
 10. The lidding systemaccording to claim 7, wherein the holding apparatus comprises aplurality of support members configured to support the side wall of thecontainer, and a plurality of horizontal actuators configured to movethe plurality of support members, respectively, independently in asubstantially horizontal direction, and the processor is configured tocontrol the plurality of horizontal actuators based on the position dataso as to move the container to the lidding position.
 11. The liddingsystem according to claim 5, wherein the holding apparatus comprises aplurality of support members configured to support the side wall of thecontainer, and a rotary actuator configured to rotate the plurality ofsupport members about a vertical axis, and the processor is configuredto control the rotary actuator based on the position data so as to movethe container to the lidding position.
 12. The lidding system accordingto claim 6, wherein the holding apparatus comprises a plurality ofsupport members configured to support the side wall of the container,and a rotary actuator configured to rotate the plurality of supportmembers about a vertical axis, and the processor is configured tocontrol the rotary actuator based on the position data so as to move thecontainer to the lidding position.
 13. The lidding system according toclaim 7, wherein the holding apparatus comprises a plurality of supportmembers configured to support the side wall of the container, and arotary actuator configured to rotate the plurality of support membersabout a vertical axis, and the processor is configured to control therotary actuator based on the position data so as to move the containerto the lidding position.
 14. The lidding system according to claim 8,wherein the holding apparatus comprises a plurality of support membersconfigured to support the side wall of the container, and a rotaryactuator configured to rotate the plurality of support members about avertical axis, and the processor is configured to control the rotaryactuator based on the position data so as to move the container to thelidding position.
 15. The lidding system according to claim 5, furthercomprising: an illumination apparatus configured to illuminate thecontainer, wherein the transfer apparatus comprises a conveyor belt thattransmits light from the illumination apparatus provided below theconveyor belt, and the position sensor comprises a camera configured tocapture, from above, an image of the container illuminated by theillumination apparatus.
 16. The lidding system according to claim 1,further comprising: an alignment apparatus placed upstream of theholding apparatus in a travel direction of the transfer apparatus, thealignment apparatus being configured to move the container to betransferred by the transfer apparatus toward a position corresponding tothe lidding position in a width direction perpendicular to the traveldirection.
 17. The lidding system according to claim 16, wherein thealignment apparatus comprises a pair of aim members placed facing eachother in the width direction, the pair of arm members being configuredto sandwich the container, opening/closing actuators configured to openand close the pair of arm members in the width direction, and feed beltsplaced in contact portions of the pair of arm members with thecontainer, respectively, the feed belts being configured to becirculated and driven at a travel speed which is substantially same as atransfer speed of the transfer apparatus.
 18. The lidding systemaccording to claim 1, wherein the holding apparatus includes a pluralityof support members configured to support the side of the container, andthe support members are configured to be replaceable according to ashape of the container.
 19. The lidding system according to claim 1,wherein the lidding apparatus comprises an articulated robot including,at a tip, a suction pad that suctions the lid, the articulated robotbeing configured to carry the lid fed to a lid receiving position to thelidding position and place the lid on, and the suction pad is configuredto be replaceable according to a shape of the lid.
 20. A lidding methodcomprising: transferring a container which is put on a transferapparatus such that a bottom of the container contacts the transferapparatus, the container having an opening opposite to the bottom and aside wall extending from the bottom to the opening; holding the sidewall of the container at a lidding position; and pressing a lid againstthe container while the side wall of the container is held at thelidding position to close the opening.